Nikiro_hardware

Nikiro is a ROS 2-based Autonomous Mobile Robot (AMR) platform designed for indoor navigation using a differential drive system. Built with modularity and simulation in mind, Nikiro leverages Gazebo, RViz, and Nav2 for SLAM, localization, and path planning.This repo is based on linorobot2.

Download linorobot2_hardware

cd $HOME
git clone https://github.com/logesh1516/Nikiro_hardware

Install PlatformIO Download and install platformio. Platformio allows you to develop, configure, and upload the firmware without the Arduino IDE. This means that you can upload the firmware remotely which is ideal on headless setup especially when all components have already been fixed.

curl -fsSL -o get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
python3 get-platformio.py

Add platformio to your $PATH:

echo "PATH=\"\$PATH:\$HOME/.platformio/penv/bin\"" >> $HOME/.bashrc
source $HOME/.bashrc

COMPONENTS USED

2 X Pro-Range Planetary Gear DC Motor 12V 96RPM 121.7 N-cm PG36M555-50.9K with encoder ME-37,7PPR

2 X 100mmx40mmx8mm wheels

2 X 12v Battery

1 X Teensy 4.1 (Microcontroller)

1 X Raspberry pi 5 (SBC)

1 X MPU6050 (IMU)

2 X BuckConverters

2 X BTS7960 Motor Driver

1 X YDlidar X2

CONNECTIONS (EXAMPLE)

INSIDE NIKIRO

USAGE

use the calibration firmware to find the motor rev and replace it in the firmware.

CALIBRATION

Go to calibration folder and upload the firmware:

cd linorobot2_hardware/calibration
pio run --target upload -e <your_teensy_board>

Available Teensy boards:

teensy31

teensy35

teensy36

teensy40

teensy41

type spin in the serial monitor to check the rotation of the motors.

type sample in the serial motor to note the count per revolution of the motors.

MICRO-ROS

INSTALLATION

# Source the ROS 2 installation
source /opt/ros/$ROS_DISTRO/setup.bash

# Create a workspace and download the micro-ROS tools
mkdir microros_ws
cd microros_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

# Update dependencies using rosdep
sudo apt update && rosdep update
rosdep install --from-paths src --ignore-src -y

# Install pip
sudo apt-get install python3-pip

# Build micro-ROS tools and source them
colcon build
source install/local_setup.bash

# Download micro-ROS agent packages
ros2 run micro_ros_setup create_agent_ws.sh

# Build step
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

ROBOT OPERATION

Run teleop_twist_keyboard package and follow the instructions on the terminal on how to drive the robot:

ros2 run teleop_twist_keyboard teleop_twist_keyboard 

Check the topics

Check if the odom and IMU data are published:

ros2 topic list

Now you should see the following topics:

/cmd_vel /imu/data /odom/unfiltered /parameter_events /rosout